ガウス過程による滑り予測に基づく惑星ローバの自律的ZUPT
Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization
走行中の車輪滑りをガウス過程で予測し、停止すべき適切なタイミングを自律判断してZUPTを適用することで、惑星ローバの3D自己位置推定精度を向上させる手法を提案・実地検証した。
著者: Cagri Kilic, Nicholas Ohi, Yu Gu, Jason N. Gross
分類: cs.RO, cs.LG
原文アブストラクト
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of more than 97% over 650 m drives on rough terrain.
